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Challenges and implemented technologies used in autonomous drone racing
Moon, Hyungpil,Martinez-Carranza, Jose,Cieslewski, Titus,Faessler, Matthias,Falanga, Davide,Simovic, Alessandro,Scaramuzza, Davide,Li, Shuo,Ozo, Michael,De Wagter, Christophe,de Croon, Guido,Hwang, Su Springer-Verlag 2019 INTELLIGENT SERVICE ROBOTICS Vol.12 No.2
Vision-based Modular Docking System for Cooperative Mobile Robots
김용태,Hyungpil Moon,Jae Hoon Park,최혁렬,노흥식,Jin-Woo Jung 동국대학교 정보융합기술원 2009 International Journal of Assistive Robotics and Sy Vol.10 No.1
Even though small robots with simple driving mechanisms have advantages in manufacturing cost and ability to navigate through narrow environments, not many small-size mobile robots are used for navigating outdoor environments due to their limited mobility. In this paper, we design a modular docking device for physical connection between such small mobile robots to enhance their mobility. Such a docking mechanism is required to tolerate relative position and orientation errors between the robots while docking each other. The docking module is designed to employ a peg and cup where the base of the peg is mounted to a ball-socket joint and the motion of the peg is restrained by spring forces. We also provide a vision-based docking scheme between the modular robots under the unknown environments. Successfully connected mobile robots can cooperatively maneuver rough environment with improved mobility. We experimentally demonstrate the effectiveness of the proposed vision-based modular docking method with two small-size mobile robots.
Landmark detection methods for in-pipe robot traveling in urban gas pipelines
Lee, Dong-Hyuk,Moon, Hyungpil,Choi, Hyouk Ryeol Cambridge University Press 2016 Robotica Vol.34 No.3
<B>SUMMARY</B><P>Elbows and branches in pipelines produce unique image patterns, which can be used as landmarks for autonomous navigation inside the pipelines. This paper presents two landmark detection methods, known as shadow-based method and laser projection method. The first method uses the landmark's unique patterns of shadow produced by the robot's illuminator. The other method exploits special line features generated by its own line-laser beam projector. The basic algorithms for extracting the landmarks are given and special sensor mechanisms are addressed respectively. Finally, the detection performances of each method are validated in various pipeline conditions by using an in-pipe robot, called MRINSPECT-V.</P>
Youngjin Choi,Joono Cheong,Hyungpil Moon IEEE 2010 IEEE/ASME transactions on mechatronics Vol.15 No.5
<P>This paper describes a new trajectory planning method for the output tracking control of linear flexible systems; this method computes the exact solution of the equilibrium manifold. We establish a system of differential equations by combining kinematic and dynamic constraints and reformulate them in a singularly perturbed dynamics to obtain the equilibrium manifold in the form of an infinite series, which is our planned trajectory. We show that for the desired output defined by exponential functions, the equilibrium manifold becomes a converging geometric series that has a succinct form of summation. In addition, the inverse torque, which is the feedforward command, is easily produced by using the computed exact equilibrium manifold. We validate the effectiveness of the proposed method through simulations and experimental studies using a single-link flexible arm.</P>
Landmark Detection of In-pipe Working Robot Using Line-Laser Beam Projection
Dong-Hyuk Lee,Hyungpil Moon,Hyouk Ryeol Choi 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In-pipe works such as inspection or cleaning which are difficult to be done by human seem to be suitable tasks for automatic robots. Since the wireless communication is hardly accessible in pipeline and the wired communication severely limits the mobility of in-pipe robot, the in-pipe working robot should work autonomously and independently. Landmark based localization which is widely used in mobile robot also can be applied to localization of in-pipe working robot in pipeline environment. In a pipeline, specific structures such as branches or elbows can be treated as landmarks which are distinguishable from the environment. In this paper, we introduce a noise tolerant landmark detection method using line laser beam projected on internal surface of the pipeline. Once the line laser is projected on the surface of landmarks such as elbow or branch, a unique line pattern is generated. By using this line pattern the robot can obtain the information to perform the localization. Line laser beam used in this method has distinct color like red or green which is easily noticeable from real environment in pipeline. Therefore the image processing procedure to observe this line becomes easier even in rusted and contaminated environments.